Floating Spacecraft Simulator Test Bed for the Experimental Testing of Autonomous Guidance, Navigation, &amp; Control of Spacecraft Proximity Maneuvers and Operations

Zappulla, Richard; Virgili-Llop, Josep; Park, Hyeongjun; Zagaris, Costantinos; Romano, Marcello

doi:10.2514/6.2016-5268

Cited by 11 publications

(11 citation statements)

References 28 publications

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“…A detailed description of the system can be found in Section II-A and in the literature. 10,42 The chaser spacecraft Simulator has an onboard PC-104 form-factor computer based on an Intel Atom 1.6 GHz 32 bit processor with a 2 GB of RAM and a 8 GB solid-state drive. The onboard computer accommodates computing for guidance, navigation, and control (GNC) algorithms developed in a MATLAB/Simulink environment.…”

Section: Experimental Results On the Nps-fsstbmentioning

confidence: 99%

Analysis and Experimentation of Model Predictive Control for Spacecraft Rendezvous and Proximity Operations with Multiple Obstacle Avoidance

Park

Zagaris

Virgili-Llop

et al. 2016

AIAA/AAS Astrodynamics Specialist Conference

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In this paper, Model Predictive Control (MPC) approaches are applied to multiple obstacle avoidance maneuvers for spacecraft rendezvous and docking. For safe obstacle avoidance, keep-out constraints are introduced by bounding ellipsoids around obstacles. In a linear quadratic MPC (LQ-MPC) framework, the rotating hyperplane method is used to convexify the obstacle avoidance constraints. A new method using two hyperplanes for convexification of the constraints is also proposed to improve performance of the LQ-MPC approach. A nonlinear MPC (NMPC) approach that deals with the nonlinear obstacle constraints directly is also applied to solve the spacecraft proximity maneuvering problems by using the nonlinear programming solver IPOPT (Interior Point OPTimizer). Real-time implementation of the MPC solutions is analyzed and compared on a physical test bed using several test cases. Numerical simulations and experiments demonstrate the obstacle avoidance as well as real-time operation capabilities of the considered control approaches.

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Section: Experimental Results On the Nps-fsstbmentioning

confidence: 99%

Analysis and Experimentation of Model Predictive Control for Spacecraft Rendezvous and Proximity Operations with Multiple Obstacle Avoidance

Park

Zagaris

Virgili-Llop

et al. 2016

AIAA/AAS Astrodynamics Specialist Conference

Self Cite

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“…The movement of SIT is complicated, and their manipulation task is also difficult [5]. In order to verify the feasibility of the space control method and optimize the control algorithm, it is necessary to conduct ground manipulation simulation experiments of SIT [6,7]. The primary task of the ground simulation test is to accurately simulate the relative spatial movement and relative attitude motion between SIT and space operation aircraft.…”

Section: Introductionmentioning

confidence: 99%

Motion Planning of Ground Simulator for Space Instable Target Based on Energy Saving

Bai

Zhao³

et al. 2021

Machines

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In order to achieve the high-precision motion trajectory in ground experiment of space instable target (SIT) while reducing the energy consumption of the motion simulator, a robot motion planning method based on energy saving is proposed. Observable-based ground robot motion experiment system for SIT is designed and motion planning process is illustrated. Discrete optimization mathematical model of energy consumption of motion simulator is established. The general motion form of the robot joints in ground test is given. The optimal joint path of motion simulator based on energy consumption under discontinuous singularity configuration is solved by constructing the complete energy consumption directed path and Dijkstra algorithm. An improved method by adding the global optimization algorithm is used to decouple the coupled robot joints to obtain the minimum energy consumption path under the continuous singularity configuration of the motion simulator. Simulations are carried out to verify the proposed solution. The simulation data show that total energy saving of motion simulator joints adopting the proposed method under the condition of non-singularity configuration, joints coupled motion with continuous singularity configuration, and coexistence of non-singularity path and continuous singularity path are, respectively, 72.67%, 28.24%, and 62.23%, which proves that the proposed method can meet the requirements of ground motion simulation for SIT and effectively save energy.

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“…In the past years, numerous missions have been proposed and attempted exploring various techniques for safely conducting rendezvous and docking operation [1]. In order to ensure safe on-orbit operation, many ground testing must be performed to demonstrate that the GNC algorithm meets performance requirements.…”

Section: Introductionmentioning

confidence: 99%

“…A survey of relevant test bed has been presented exhaustively in [1]. Of these test beds a few research centers utilize a three degree of freedom (3 DoF) translational air bearing which translate on an epoxy, granite or glass surfaces.…”

Section: Introductionmentioning

confidence: 99%

“…Of these test beds a few research centers utilize a three degree of freedom (3 DoF) translational air bearing which translate on an epoxy, granite or glass surfaces. Two different test beds mentioned here are a 3 DoF's test bed in Naval Postgraduate School (NPS) of Montery [1] and are a 3 DoF's test bed in Thales Alenia Space Turin [2] due to fact that both test beds can analyses only the proximity maneuvers. INCAS has been implementing last two years an experimental infrastructure "SpaceSysLab".…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Air Cushion Robots Ground Testing Bed Experiments and Control Algorithm for Autonomous Rendezvous and Docking

Ioniţă¹,

Guta²,

Nguyen³

et al. 2019

IJMO

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Floating Spacecraft Simulator Test Bed for the Experimental Testing of Autonomous Guidance, Navigation, & Control of Spacecraft Proximity Maneuvers and Operations

Cited by 11 publications

References 28 publications

Analysis and Experimentation of Model Predictive Control for Spacecraft Rendezvous and Proximity Operations with Multiple Obstacle Avoidance

Analysis and Experimentation of Model Predictive Control for Spacecraft Rendezvous and Proximity Operations with Multiple Obstacle Avoidance

Motion Planning of Ground Simulator for Space Instable Target Based on Energy Saving

Air Cushion Robots Ground Testing Bed Experiments and Control Algorithm for Autonomous Rendezvous and Docking

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